JPH104729A - Controller for lifting and lowering of working machine part in farm working machine for paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct the control sensitivity to that suitable for conditions of a field in relation to the control over the lifting and lowering of a working machine part in a farm working machine for paddy fields-such as a rice transplanter. SOLUTION: This controller for lifting and lowering of a working machine part in a farm working machine for paddy fields is obtained by installing the whole surface pressure sensor 42 capable of sensing the sum total of pressures by utilizing the ability of ground contact units freely shakingly installed in the working machine part so as to vertically move the fronts according to pressures received from the topsoil surface of a field to analogize the hardness of soil from the sum total of the pressures, changing the control target value of angles to the horizontal plane of the ground contact units based on a value sensed with the whole surface pressure sensor 42 and thereby correcting the control sensitivity to that suitable for conditions of the field.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting and lowering control device for a working machine of a paddy field farming machine such as a rice transplanter.

[0002]

2. Description of the Related Art A work machine part lifting and lowering control device for a paddy field farm work machine in which a work machine part is mounted on a traveling vehicle body so that the front part can move up and down in response to pressure received from a surface of a field. A grounding body is provided on the working machine portion so as to be swingable, and an angle of the grounding body with respect to a horizontal plane (hereinafter, referred to as a grounding body)
There is a configuration in which the working machine portion is raised and lowered with respect to the traveling vehicle body such that the "facing angle" approaches a predetermined control target value, thereby maintaining the ground height of the working machine portion constant. In addition, the control sensitivity becomes more sensitive as the facing angle of the grounding body is larger.

Generally, in a rice transplanter, a float for leveling is used as the grounding body. The work machine part is supported by the traveling vehicle body by the lifting link device,
During work, a part of the weight of the working machine is received on the mud surface by the float. For this reason, when the topsoil surface of the field is soft, the float tends to sink in the mud as a whole, and the float pushes the mud to the left and right sides, so that the leveling mark of the float remains lower than the surroundings. is there.

[0004] Therefore, the depth of the leveling mark of the float is measured, and when the leveling mark is deep, it is determined that the soil is soft,
A work implement partial lifting control device has been developed that is configured to increase the leveling control sensitivity by correcting the control target value of the float facing angle to a relatively large value, and to reduce the mud pushing of the float and improve the leveling property. .

[0005]

However, in the above-mentioned work equipment part elevation control device, a detection means for detecting the depth of the leveling mark of the float must be separately provided. However, there is a problem that the number of components is increased, and the detection means disposed behind the float becomes a hindrance at the time of storage or the like.

[0006]

In order to solve the above problems, the present invention has the following constitution. That is, the lifting device for a working machine portion of a paddy field agricultural working machine according to the present invention includes a grounding body provided on the working machine portion so that the front portion can swing up and down so as to move up and down according to the pressure received from the surface of the field. A work machine part lifting and lowering control device for a paddy field agricultural work machine that raises and lowers a work machine part with respect to a traveling vehicle body such that an angle of the ground body with respect to a horizontal plane approaches a predetermined control target value, wherein the ground body is a field surface A full pressure sensor for detecting the sum of the pressures received from, and by changing the control target value based on the detection value of the full pressure sensor, to correct the control sensitivity to match the hardness of the soil surface of the field did.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of an apparatus for controlling the raising and lowering of a transplanting part of a riding rice transplanter shown in the drawings. In the riding rice transplanter 1, a planting portion 4, which is a working machine portion, is mounted on a rear side of the traveling vehicle body 2 via a lifting link device 3 so as to be able to move up and down.

The traveling vehicle body 2 includes a pair of left and right front wheels 2a, 2a.
a and a rear wheel 2b, 2b, an engine 7 is mounted on a main frame 6 extending rearward from a rear portion of a transmission case 5 arranged at the front of the body. The rotational power of the engine 7 is transmitted to a transmission in a transmission case 5 via a hydraulic continuously variable transmission (HST) 8, from which the front wheels 2a, 2
a, the rear wheels 2b, 2b, and the driving unit of the planting unit 4.

A cockpit 10 is provided above the engine 7, and a handle 11 is provided in front of the cockpit 10. On the right side of the handle 11, a change lever 12 for switching the transmission in the transmission case 5 is provided.
A driving lever 13 for operating the hydraulic continuously variable transmission 8 is provided on the left side of the engine 1, and a planting / position for setting the position of the planting section 4 by turning on / off the transmission to the planting section 4 is provided on the left side of the engine 7. A finger-operated finger-up lever 15 for raising and lowering the planting portion 4 is provided near the lower side of the handle 11 of the lever 14. On the right side of the engine 7, a control box 16 including a sensitivity adjustment dial 16a for adjusting the elevation control sensitivity described later, a check lamp 16b for checking the control state, and the like are provided.

The lever guide 13a of the traveling lever 13
As shown in FIG. 6A, the lever guide 13a has a crank shape, and the front side is a forward operation area F and the rear side is a reverse operation area B across the neutral position N. The operating position of the traveling lever 13 is detected by the traveling lever position sensor 13b, and the speed is adjusted by changing the swash plate angle of the hydraulic continuously variable transmission 8 accordingly. When the traveling lever 13 is in the neutral position N, the speed is zero. When the traveling lever 13 is operated in the forward operation range F, the forward speed becomes a speed corresponding to the distance from the neutral position N, and when the traveling lever 13 is operated in the reverse operation region B, the neutral speed is obtained. The reverse speed is a speed corresponding to the distance from the position N. When the traveling lever 13 is operated in the reverse operation area B, the back detection sensor 13c is turned ON,
The planting section 4 is raised as described later.

The lifting link device 3 has a parallel link configuration, and includes one upper link 20 and a pair of left and right lower links 21.
21. These links 20, 21, 21
A base side thereof is rotatably attached to a link base frame 22 erected at a rear end of the main frame 6, and a connection frame 23 is pivotally connected to a front end thereof. A rolling shaft 23 for connecting the planting section 4 to the connection frame 23 in a freely rolling manner.
a is provided. A swing arm 24 integrally formed with the support member fixed to the main frame 6 and the upper link 20
An elevating hydraulic cylinder 25 is interposed between the upper link 20 and the distal end of the connecting frame 23. Ascend and descend with almost constant posture. The rotation angle of the upper link 20 is detected by a link sensor 26.

At the connecting portion between the upper link 20 and the connecting frame 23,
A pitching mechanism 27 is configured to allow the planting section 4 to rotate around a left and right axis within a predetermined range. Specifically, a long hole 23b (lower link 2) formed in the connection frame 23 is formed.
The loose fitting pin 20a on the upper link 20 side is loosely fitted into the first and second connecting pins 21a, 21a). The upper end side of the connection frame 23 is pulled forward by a spring 28 provided therebetween. Therefore, the planting part 4 is connected to the connecting pin 2
It is rotatable within the range of the elongated hole 23b with the reference points 1a and 21a as fulcrums, and the posture of the planting unit 4 changes according to the reaction force received by the planting unit 4 from the topsoil of the field. In other words, when the reaction force received from the topsoil of the field is small and the moment for rotating the planting section 4 downward is larger than the moment due to the tension of the spring 28 opposing it, the front end of the long hole 23b is The position is such that the loose fitting pin 20a is engaged with the portion. From that state, the reaction force received from the topsoil surface of the field becomes large, and when the moment for turning the planting section 4 downward and the moment due to the tension of the spring 28 which opposes the same are balanced, the middle of the elongated hole 23b is formed. The position is such that the loose fitting pin 20a is engaged with the portion. Further, when the reaction force received from the topsoil surface of the field is equal to or more than a certain value, the loose fitting pin 20a is engaged with the rear end of the elongated hole 23b. The angle θ of the rotation range of the planting section by the pitching mechanism is about 3 degrees, and the pitching angle of the planting section 4 is detected by the planting section pitching sensor 29.

The planting section 4 has a six-row planting structure.
A transmission case 30 also serving as a frame is provided with a seedling mounting table 31 on which six rows of seedlings are mounted, and six sets of planting devices 32 for planting the seedlings on the seedling mounting base in a field scene. .
Below the planting section 4, a center float 34 and side floats 35, 35 for leveling are provided, and when these floats are brought into contact with the mud surface of the field and the aircraft is advanced, each float clears the mud surface. Glide while doing.

Each of the floats 34, 35, 35 which are grounded bodies
Are attached to the rear ends of the float support arms 38,... Fixed to the float support pipes 37 arranged in the horizontal direction so that the front end can move up and down in accordance with the unevenness of the surface of the field. I have. The float supporting pipe 37 is rotatably supported by the transmission case 30, and when the planting depth adjusting lever 39 is operated to rotate the float supporting pipe 37, the mounting height of the float changes, and the planting of the seedlings is performed. The depth is adjusted. The planting depth adjusting lever 39 is selectively provided at a plurality of positions by engaging an engaging piece 40 fixed to the lever with a concave portion 41a of a lever guide 41 fixed to the transmission case 30. Fixed to

The detection arm 42 of the float full-pressure sensor 42 attached to the frame 30a fixed to the transmission case 30
a is connected to one end of the lever guide 41, and the sum of the pressures received by all the floats 34, 35, 35 from the surface of the field (hereinafter, referred to as “float full pressure”) is supplied to the float full pressure sensor 42. This is detected as the amount of distortion of the lever guide 41.

Also, a frame 30b fixed to the transmission case
The parallel links 44 and 45 are pivotally supported by pins 44a and 45a so as to be rotatable up and down, and a vertical link 46 is pivotally connected to the distal ends of the parallel links 44 and 45 to form a parallel link mechanism. . A balance arm 48 is rotatably attached to the distal end of the upper link 44 of the parallel link, and the rear end of the balance arm and the front upper surface of the center float 34 are connected via a connection link 49. . An arm 51 in which the front end of an interlocking rod 50 whose rear end is connected to the planting depth adjusting lever 39 is integrally provided at the base of the upper link 44.
And the parallel links 44 and 45 are turned in conjunction with the turning operation of the planting depth adjusting lever 39. Therefore, when the planting depth is changed, the change in the float mounting height is changed. The fulcrum position of the balance arm 48 is changed by an amount corresponding to

A spring 53 for urging the front portion of the center float 34 downward when the float is in contact with the mud surface of the field is connected to the front end of the balance arm 48. By adjusting the tension of the spring 53 with the ground pressure adjusting wire 54, the center float 3 is adjusted.
The ground pressure at the front of 4 is changed.

A float angle sensor 55 is attached to the upper end of the vertical link 46, and its detection arm 55 a is connected to the front of the balance arm 48 via a connecting rod 56. Thereby, the facing angle of the center float 34 is detected by the float facing sensor 55.

During the planting operation, the floats 34, 35, 3
The planting unit 4 is lowered to a position where the plant 5 touches the ground, and while driving each driving unit of the planting unit 4, the front wheels 2a, 2a and the rear wheels 2b,
When the aircraft is advanced by rotating 2b, the floats 34, 3
The planting devices 32,... Plant seedlings on the mud surface leveled by 5, 35. When the vehicle turns, the planting section 4 is raised to the uppermost position so that the planting section 4 does not come into contact with the ground or ridges. During running or transportation, the planting section 4 is raised to an appropriate height.

The raising and lowering of these planting sections 4 is controlled by a raising and lowering control device. The elevating control device has a configuration shown in FIG. 5, and includes a back detection sensor 13c, a planting / position lever 14,
Finger-up lever 15, sensitivity adjustment dial 16a,
Link sensor 26, planting part pitching sensor 29, float whole surface pressure sensor 42, and float facing angle sensor 55
Is transmitted to the control device 60, and an output command is issued to the control valve 61 of the lifting hydraulic cylinder 25 based on the information.

As shown in FIG. 7, the operating position of the planting / position lever 14 includes "position", "automatic", and "planting", and the planting / position lever 14 is set within the range of "position". When operated, it becomes a position control mode in which the planting section 4 is raised and lowered to a height corresponding to the position,
When the operation is set to “automatic”, the ground control mode is maintained in which the ground height of the planting section 4 is kept constant. In the "position", the driving of the planting section 4 is stopped, and in the "automatic" and "planting", the driving of the planting section 4 is turned on.

In the position control mode, the position of the planting section 4 is monitored by the link sensor 26, and the elevation of the planting section 4 is controlled to a height corresponding to the position of the planting / position lever 14.

In the ground control mode, control is performed so that the actual float angle α detected by the float angle sensor 55 approaches the control target value set by the sensitivity adjustment dial 16a. For example, where the topsoil surface is high, the front part of the center float 34 is pushed up, and the float facing angle is detected to be small. Then, the control valve 61 is operated so that the hydraulic cylinder 25 is protruded.
Is issued, and the planting section 4 is raised. Where the topsoil surface is low, the center float 34
Since the front part of is lowered, the opposite angle is detected to be large. Then, an output command is issued to the control valve 61 so as to contract the hydraulic cylinder 25, and the planting section 4 is lowered. As described above, by controlling the height of the planting portion 4 above the ground according to the height of the top soil surface of the field, the planting depth of the seedlings is maintained constant.

During this ground control, the float full surface pressure sensor 4
The peak value of 2 is stored, and if the state in which the time interval at which the peak value appears is within a certain number of times is continued several times, the control sensitivity is made insensitive. The above state is a state in which the entire pressure of the float is periodically fluctuating, and may develop into hunting. Therefore, if it is determined that the float entire surface pressure fluctuates at a predetermined cycle, the control sensitivity is made insensitive to prevent hunting. Also, the number of times that the value of the float full-pressure sensor 42 changes from the (+) side to the (−) side or from the (−) side to the (+) side of the moving average value is counted, and within a predetermined time (for example, 10 seconds). If the number of times is equal to or more than a certain number, it may be determined that the float overall pressure is periodically fluctuating, and the control sensitivity may be insensitive.

When the float full pressure detected by the float full pressure sensor 42 exceeds a certain value, the control target value of the float facing angle is corrected to a value larger than the value set by the sensitivity adjustment dial 16a, and the control sensitivity is adjusted. Sensitive. The fact that the float overall pressure is large means that the float tends to sink and the soil is soft. When the soil is soft, the responsiveness of the center float 34 becomes insensitive, so that the control sensitivity is compensated by increasing the control sensitivity, and appropriate control according to the soil conditions is performed.

It is to be noted that if the control sensitivity is made sensitive when the overall pressure of the float is increasing, the control sensitivity is made insensitive when the overall pressure is decreasing. It is possible to deal with it, and to perform more accurate lifting and lowering control.

When the operation position of the planting / position lever 14 is "automatic" and the finger-up lever 15 is operated to "up", the planting section 4 rises from the working position to the uppermost position and moves to "down". When operated, the planting section 4 is lowered from the uppermost position to the working position. When the back detection sensor 13c is turned on in a state where the operation position of the planting / position lever 14 is "automatic", the planting section 4 at the working position moves up to the uppermost position.

When the planting section 4 descends from the raised position to the working position, the entire surface pressure of the float temporarily increases due to the downward momentum. Therefore, in the case where the planting section is once raised for turning or the like and then lowered to the working position, the value of the float full-pressure sensor 42 is ignored for a predetermined time after the touchdown, and the control is performed with the control sensitivity stored immediately before turning. Is preferably performed.

During the control, a predetermined time (for example, 10 seconds)
Calculate the difference between the maximum value and the minimum value of the planting part pitching sensor 29 in the inside, and if the difference is equal to or more than a predetermined value, perform elevation control based on the full pressure of the float, and if the difference is equal to or less than the predetermined value It is preferable to perform elevation control based on the float facing angle.

Regarding the switching of the control mode based on the planting section pitching angle, when the planting section is once raised for turning or the like and then lowered to the working position, the elevation control is performed in the control mode before turning.

Next, the self-check function of the lift control device will be described. If the sensor for detecting the position of the planting / position lever 14 is broken, the check lamp 1
6b blinks and the planting / position lever 14
Is controlled as if it is being operated “automatically”. As a result, the planting section 4 can be moved up and down by the finger-up lever 15, and the function of automatically moving the planting section 4 when the aircraft moves backward does not deteriorate.

When the link sensor 26 is disconnected, the position control is prohibited and the finger-up lever 15
Operation of the planting part 4 and the planting part 4
As for the automatic ascent, the ascending output is stopped when a predetermined time (for example, 10 seconds) elapses after the ascending output is started. If the link sensor 26 is disconnected, the position of the planting section 4 cannot be grasped, and it is very dangerous to raise and lower the planting section 4 as it is. However, if the lifting function of the planting section 4 is completely stopped, the operation cannot be continued. Therefore, by configuring the timer to output a rising output for a predetermined time, the work can be temporarily continued.

The float facing angle sensor 55 has the wiring shown in FIG. In the figure, when the float angle sensor 55 is disconnected at the portion A or when the portion B and the portion C are short-circuited, the voltage detected by the microcomputer (CPU) exceeds the detection range of the normal float angle sensor 55. Also increases. Therefore, it is possible to know the abnormality of this part.

As shown in FIG. 9, the winger up lever 15 has a built-in up switch 15a for raising the planted portion 4 and a down switch 15b for lowering the planted portion 4. When operated in one direction, the up switch 15a is turned on, and when operated in the other direction, the down switch 15b is turned on. In other words, only one switch is turned on even if the fan-up lever 15 is operated. However, if one switch is turned on for some reason, both switches are turned on when the other is operated. There is.
Therefore, if both switches 15a and 15b are ON at the same time, it is determined that an abnormality has occurred.

When the back detection sensor 13c is ON even though the detection position of the traveling lever 13 by the traveling lever position sensor 13b is in the forward operation area F, or the traveling lever 13 is detected by the traveling lever position sensor 13b. If the back detection sensor 13c is OFF even though the position is in the reverse operation area B, either of the sensors is abnormal, and the abnormality is notified by blinking the check lamp 16b.

[0036]

As described above, the working machine part lifting and lowering control device for the paddy field agricultural working machine according to the present invention utilizes the fact that the sum of the pressures received by the ground contact body from the topsoil surface varies depending on the degree of hardness of the soil. By changing the control target value of the angle of the grounding body with respect to the horizontal plane based on the sum of the pressures that the grounding body receives from the topsoil surface, it is possible to control the lifting and lowering of the work equipment with appropriate control sensitivity according to the soil conditions. Was.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a plan view of the riding rice transplanter.

FIG. 3 is a side view of the planting section.

FIG. 4 is a side view of a support portion of the grounding body.

FIG. 5 is a block diagram of a lifting control device.

FIG. 6A is a plan view of a traveling lever and a lever guide, and FIG.

FIG. 7 is a diagram showing an operation position of a planting / position lever.

FIG. 8 is a wiring diagram of the float facing angle sensor.

FIG. 9 is a wiring diagram of a finger-up lever.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Riding rice transplanter (agricultural work machine for paddy fields) 2 Traveling vehicle body 3 Elevating link device 4 Planting part (working machine part) 14 Planting / position lever 34 Center float (grounding body) 35 Side float (grounding body) 42 Full float pressure Sensor 55 Float angle sensor 60 Control device 61 Control valve

Claims (1)

[Claims] 1. A grounding body provided in a work machine portion so as to swing up and down so that a front portion moves up and down in accordance with a pressure received from a surface soil surface of a field, and an angle of the grounding body with respect to a horizontal plane is controlled to a predetermined value. In a work machine part lifting and lowering control device of a paddy field agricultural work machine that raises and lowers a work machine part with respect to a traveling vehicle body so as to approach a target value, a ground pressure body is provided with a full-surface pressure sensor that detects a sum of pressures received from a surface of a field, A work machine part lifting and lowering control device for a paddy field agricultural work machine, wherein the control target value is changed based on a detection value of the full surface pressure sensor.